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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8195f5c0d9a800b311ff87242d342361.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_9fda3634bd985c8b3aac4c1dd5078468.html">h</a></li>  </ul>
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<a href="Utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;<a class="code" href="ObTypes_8h.html">ObTypes.h</a>&quot;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="Utils_8h.html#ab31c571d9d935a9bd3fa8129f8f43cbe">   21</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#ab31c571d9d935a9bd3fa8129f8f43cbe">ob_calibration_3d_to_3d</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_struct" href="structOBPoint.html">ob_point3f</a> source_point3f, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> source_sensor_type,</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>                             <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> target_sensor_type, <a class="code hl_struct" href="structOBPoint.html">ob_point3f</a> *target_point3f, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="Utils_8h.html#a685e9d9afb5a0eb1efc4716772b6b398">   37</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#a685e9d9afb5a0eb1efc4716772b6b398">ob_calibration_2d_to_3d</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_struct" href="structOBPoint2f.html">ob_point2f</a> source_point2f, <span class="keyword">const</span> <span class="keywordtype">float</span> source_depth_pixel_value,</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                             <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> source_sensor_type, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> target_sensor_type, <a class="code hl_struct" href="structOBPoint.html">ob_point3f</a> *target_point3f, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="Utils_8h.html#ac38fb189c2c0b3511f71f3361dc1cba9">   53</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#ac38fb189c2c0b3511f71f3361dc1cba9">ob_calibration_2d_to_3d_undistortion</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_struct" href="structOBPoint2f.html">ob_point2f</a> source_point2f, <span class="keyword">const</span> <span class="keywordtype">float</span> source_depth_pixel_value,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                                          <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> source_sensor_type, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> target_sensor_type, <a class="code hl_struct" href="structOBPoint.html">ob_point3f</a> *target_point3f,</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                                          <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="Utils_8h.html#aff230d6d794917037333636af168f413">   69</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#aff230d6d794917037333636af168f413">ob_calibration_3d_to_2d</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_struct" href="structOBPoint.html">ob_point3f</a> source_point3f, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> source_sensor_type,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                             <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> target_sensor_type, <a class="code hl_struct" href="structOBPoint2f.html">ob_point2f</a> *target_point2f, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="Utils_8h.html#a3e95d2de0d19dd745f58837ea17b7d41">   85</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#a3e95d2de0d19dd745f58837ea17b7d41">ob_calibration_2d_to_2d</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_struct" href="structOBPoint2f.html">ob_point2f</a> source_point2f, <span class="keyword">const</span> <span class="keywordtype">float</span> source_depth_pixel_value,</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>                             <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> source_sensor_type, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> target_sensor_type, <a class="code hl_struct" href="structOBPoint2f.html">ob_point2f</a> *target_point2f, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="Utils_8h.html#aef14c64c179432b5198a01a0cffbffd8">   99</a></span><a class="code hl_typedef" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *<a class="code hl_function" href="Utils_8h.html#aef14c64c179432b5198a01a0cffbffd8">transformation_depth_frame_to_color_camera</a>(<a class="code hl_typedef" href="ObTypes_8h.html#a3c87c98acfd9b143bb58c731d95fa437">ob_device</a> *device, <a class="code hl_typedef" href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a> *depth_frame, uint32_t target_color_camera_width,</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>                                                     uint32_t target_color_camera_height, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="Utils_8h.html#a124d390cebfeb7733e22427062c16d06">  115</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="Utils_8h.html#a124d390cebfeb7733e22427062c16d06">transformation_init_xy_tables</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structOBCalibrationParam.html">ob_calibration_param</a> calibration_param, <span class="keyword">const</span> <a class="code hl_typedef" href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a> sensor_type, <span class="keywordtype">float</span> *data, uint32_t *data_size,</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>                                   <a class="code hl_struct" href="structOBXYTables.html">ob_xy_tables</a> *xy_tables, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="Utils_8h.html#a5aaea5ad49126881384a4b6e55402836">  126</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="Utils_8h.html#a5aaea5ad49126881384a4b6e55402836">transformation_depth_to_pointcloud</a>(<a class="code hl_struct" href="structOBXYTables.html">ob_xy_tables</a> *xy_tables, <span class="keyword">const</span> <span class="keywordtype">void</span> *depth_image_data, <span class="keywordtype">void</span> *pointcloud_data, <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="Utils_8h.html#a96606c73d9837b12a3d4cc78aeabfab0">  137</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="Utils_8h.html#a96606c73d9837b12a3d4cc78aeabfab0">transformation_depth_to_rgbd_pointcloud</a>(<a class="code hl_struct" href="structOBXYTables.html">ob_xy_tables</a> *xy_tables, <span class="keyword">const</span> <span class="keywordtype">void</span> *depth_image_data, <span class="keyword">const</span> <span class="keywordtype">void</span> *color_image_data, <span class="keywordtype">void</span> *pointcloud_data,</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>                                             <a class="code hl_struct" href="structob__error.html">ob_error</a> **error);</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span><span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>}</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aObTypes_8h_html"><div class="ttname"><a href="ObTypes_8h.html">ObTypes.h</a></div><div class="ttdoc">Provide structs commonly used in the SDK, enumerating constant definitions.</div></div>
<div class="ttc" id="aObTypes_8h_html_a2d32dd7fcbb88ebb408e9f9081e6f896"><div class="ttname"><a href="ObTypes_8h.html#a2d32dd7fcbb88ebb408e9f9081e6f896">ob_frame</a></div><div class="ttdeci">struct CFrameImpl ob_frame</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00063">ObTypes.h:63</a></div></div>
<div class="ttc" id="aObTypes_8h_html_a3c87c98acfd9b143bb58c731d95fa437"><div class="ttname"><a href="ObTypes_8h.html#a3c87c98acfd9b143bb58c731d95fa437">ob_device</a></div><div class="ttdeci">struct DeviceImpl ob_device</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00055">ObTypes.h:55</a></div></div>
<div class="ttc" id="aObTypes_8h_html_aca9dc7e0b11a78f00fa8a2ffd8b9ca1b"><div class="ttname"><a href="ObTypes_8h.html#aca9dc7e0b11a78f00fa8a2ffd8b9ca1b">ob_sensor_type</a></div><div class="ttdeci">enum OBSensorType ob_sensor_type</div></div>
<div class="ttc" id="aUtils_8h_html_a124d390cebfeb7733e22427062c16d06"><div class="ttname"><a href="Utils_8h.html#a124d390cebfeb7733e22427062c16d06">transformation_init_xy_tables</a></div><div class="ttdeci">bool transformation_init_xy_tables(const ob_calibration_param calibration_param, const ob_sensor_type sensor_type, float *data, uint32_t *data_size, ob_xy_tables *xy_tables, ob_error **error)</div><div class="ttdoc">Init transformation tables.</div></div>
<div class="ttc" id="aUtils_8h_html_a3e95d2de0d19dd745f58837ea17b7d41"><div class="ttname"><a href="Utils_8h.html#a3e95d2de0d19dd745f58837ea17b7d41">ob_calibration_2d_to_2d</a></div><div class="ttdeci">bool ob_calibration_2d_to_2d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error)</div><div class="ttdoc">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 2d pixel c...</div></div>
<div class="ttc" id="aUtils_8h_html_a5aaea5ad49126881384a4b6e55402836"><div class="ttname"><a href="Utils_8h.html#a5aaea5ad49126881384a4b6e55402836">transformation_depth_to_pointcloud</a></div><div class="ttdeci">void transformation_depth_to_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, void *pointcloud_data, ob_error **error)</div><div class="ttdoc">Transform depth image to point cloud data.</div></div>
<div class="ttc" id="aUtils_8h_html_a685e9d9afb5a0eb1efc4716772b6b398"><div class="ttname"><a href="Utils_8h.html#a685e9d9afb5a0eb1efc4716772b6b398">ob_calibration_2d_to_3d</a></div><div class="ttdeci">bool ob_calibration_2d_to_3d(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)</div><div class="ttdoc">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point o...</div></div>
<div class="ttc" id="aUtils_8h_html_a96606c73d9837b12a3d4cc78aeabfab0"><div class="ttname"><a href="Utils_8h.html#a96606c73d9837b12a3d4cc78aeabfab0">transformation_depth_to_rgbd_pointcloud</a></div><div class="ttdeci">void transformation_depth_to_rgbd_pointcloud(ob_xy_tables *xy_tables, const void *depth_image_data, const void *color_image_data, void *pointcloud_data, ob_error **error)</div><div class="ttdoc">Transform depth image to point cloud data.</div></div>
<div class="ttc" id="aUtils_8h_html_ab31c571d9d935a9bd3fa8129f8f43cbe"><div class="ttname"><a href="Utils_8h.html#ab31c571d9d935a9bd3fa8129f8f43cbe">ob_calibration_3d_to_3d</a></div><div class="ttdeci">bool ob_calibration_3d_to_3d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)</div><div class="ttdoc">Transform a 3d point of a source coordinate system into a 3d point of the target coordinate system.</div></div>
<div class="ttc" id="aUtils_8h_html_ac38fb189c2c0b3511f71f3361dc1cba9"><div class="ttname"><a href="Utils_8h.html#ac38fb189c2c0b3511f71f3361dc1cba9">ob_calibration_2d_to_3d_undistortion</a></div><div class="ttdeci">bool ob_calibration_2d_to_3d_undistortion(const ob_calibration_param calibration_param, const ob_point2f source_point2f, const float source_depth_pixel_value, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point3f *target_point3f, ob_error **error)</div><div class="ttdoc">Transform a 2d pixel coordinate with an associated depth value of the source camera into a 3d point o...</div></div>
<div class="ttc" id="aUtils_8h_html_aef14c64c179432b5198a01a0cffbffd8"><div class="ttname"><a href="Utils_8h.html#aef14c64c179432b5198a01a0cffbffd8">transformation_depth_frame_to_color_camera</a></div><div class="ttdeci">ob_frame * transformation_depth_frame_to_color_camera(ob_device *device, ob_frame *depth_frame, uint32_t target_color_camera_width, uint32_t target_color_camera_height, ob_error **error)</div><div class="ttdoc">Transforms the depth frame into the geometry of the color camera.</div></div>
<div class="ttc" id="aUtils_8h_html_aff230d6d794917037333636af168f413"><div class="ttname"><a href="Utils_8h.html#aff230d6d794917037333636af168f413">ob_calibration_3d_to_2d</a></div><div class="ttdeci">bool ob_calibration_3d_to_2d(const ob_calibration_param calibration_param, const ob_point3f source_point3f, const ob_sensor_type source_sensor_type, const ob_sensor_type target_sensor_type, ob_point2f *target_point2f, ob_error **error)</div><div class="ttdoc">Transform a 3d point of a source coordinate system into a 2d pixel coordinate of the target camera.</div></div>
<div class="ttc" id="astructOBCalibrationParam_html"><div class="ttname"><a href="structOBCalibrationParam.html">OBCalibrationParam</a></div><div class="ttdoc">calibration parameters</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00480">ObTypes.h:480</a></div></div>
<div class="ttc" id="astructOBPoint2f_html"><div class="ttname"><a href="structOBPoint2f.html">OBPoint2f</a></div><div class="ttdoc">2D point structure in the SDK</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00745">ObTypes.h:745</a></div></div>
<div class="ttc" id="astructOBPoint_html"><div class="ttname"><a href="structOBPoint.html">OBPoint</a></div><div class="ttdoc">3D point structure in the SDK</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00736">ObTypes.h:736</a></div></div>
<div class="ttc" id="astructOBXYTables_html"><div class="ttname"><a href="structOBXYTables.html">OBXYTables</a></div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00750">ObTypes.h:750</a></div></div>
<div class="ttc" id="astructob__error_html"><div class="ttname"><a href="structob__error.html">ob_error</a></div><div class="ttdoc">The error class exposed by the SDK, users can get detailed error information according to the error.</div><div class="ttdef"><b>Definition</b> <a href="ObTypes_8h_source.html#l00146">ObTypes.h:146</a></div></div>
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